#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Float64.h"

#include <sstream>
#include "CarController.h"
#include "PoseUpdater.h"


int main(int argc, char *argv[])
{
	// ROS节点初始化
	ros::init(argc, argv, "car_control");
	// 创建节点句柄
	ros::NodeHandle n;
	// 创建车子控制器对象
	CarController car_controller = CarController(&n);
	// 创建获取车辆位姿的对象
	PoseUpdater pose_updater = PoseUpdater(&n);

	ros::Rate loop_rate(100);
	while (ros::ok())
	{
		car_controller.publish();
		ros::spinOnce();
		loop_rate.sleep();
	}

	return 0;
}